private PointCloudVertices ICPOnPoints_WithSubset_PointsData(List <PointCloudVertices> PointsDataList, List <System.Drawing.Point> pointsLeft, List <System.Drawing.Point> pointsRight)
{
PointCloudVertices myPointsTarget = PointsDataList[0];
PointCloudVertices mypointsSource = PointsDataList[1];
if (PointsDataList.Count > 1)
{
if (pointsLeft != null)
{
PointCloudVertices mySubsetLeft = PointCloudVertices.FromPoints2d(pointsLeft, PointsDataList[0], pointsRight);
PointCloudVertices mySubsetRight = PointCloudVertices.FromPoints2d(pointsRight, PointsDataList[1], pointsLeft);
if (mySubsetLeft.Count == mySubsetRight.Count)
{
PointCloudVertices myPointsTransformed = ICPOnPoints_WithSubset(myPointsTarget, mypointsSource, mySubsetLeft, mySubsetRight);
return(myPointsTransformed);
}
else
{
MessageBox.Show("Error in identifying stitched points ");
}
}
}
return(null);
}